def steer(self, prediction):
# FORWARD
if np.all(prediction == [0., 0., 1.]):
car.forward(100)
car.pause(300)
dir_log.append('Forward')
print 'Forward'
# FORWARD-LEFT
elif np.all(prediction == [1., 0., 0.]):
car.left(300)
car.forward_left(200)
car.left(700)
car.pause(200)
dir_log.append('Left')
print 'Left'
# FORWARD-RIGHT
elif np.all(prediction == [0., 1., 0.]):
car.right(300)
car.forward_right(200)
car.right(700)
car.pause(200)
dir_log.append('Right')
print 'Right'
def index():
if request.method == 'POST':
if request.form["direction"] == "forward":
car.forward()
elif request.form["direction"] == "backward":
car.backward()
else:
car.stop()
return render_template('./UI.html')
def steer(self):
while self.send_inst:
for event in pygame.event.get():
if event.type == KEYDOWN:
key_input = pygame.key.get_pressed()
if key_input[pygame.K_UP]:
car.forward(self.duration)
elif key_input[pygame.K_DOWN]:
car.reverse(self.duration)
elif key_input[pygame.K_RIGHT]:
car.forward_right(self.duration)
car.right(700)
elif key_input[pygame.K_LEFT]:
car.forward_left(self.duration)
car.left(700)
# These combination key press events don't work for some reason...
elif key_input[pygame.K_DOWN] and key_input[
pygame.K_RIGHT]:
car.reverse_right(self.duration)
car.right(700)
elif key_input[pygame.K_DOWN] and key_input[pygame.K_LEFT]:
car.reverse_left(self.duration)
car.left(700)
# exit
elif key_input[pygame.K_x] or key_input[pygame.K_q]:
print 'Exit'
self.send_inst = False
# self.ser.write('00000000\n')
# self.ser.close()
break
def steer(self, prediction):
# FORWARD
if np.all(prediction == [0., 0., 1.]):
car.forward(100)
car.pause(500)
print("Forward")
# FORWARD-LEFT
elif np.all(prediction == [1., 0., 0.]):
car.left(300)
car.forward_left(200)
car.left(700)
car.pause(500)
print("Left")
# FORWARD-RIGHT
elif np.all(prediction == [0., 1., 0.]):
car.right(300)
car.forward_right(200)
car.right(700)
car.pause(500)
print("Right")
import car ''' Move forward for 1000ms (1s) and pause. ''' car.forward(1000) car.pause(1000) car.forward(1000) car.pause(1000) ''' Move backward for 1000ms (1s) and pause. ''' car.reverse(1000) car.pause(1000) car.reverse(1000) car.pause(500)
try:
port = 5555
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
s.bind(("", port))
print "waiting on port:", port
data = bytearray(10)
while True:
s.recvfrom_into(data)
direction = data[0]
angle = struct.unpack_from('<d', data, 1)[0]
if direction == 0:
car.stop()
elif direction == 1:
car.forward()
elif direction == 2:
car.backward()
car.stear(angle)
except KeyboardInterrupt:
pass
except:
raise
finally:
car.cleanup()
import car print(car.forward()) print(car.reverse())
def collect_image(self):
total_frame = 0
# collect images for training
print 'Start collecting NEGATIVE images...'
e1 = cv2.getTickCount()
# stream video frames one by one
try:
stream_bytes = ' '
frame = 1
while self.send_inst:
stream_bytes += self.connection.read(1024)
first = stream_bytes.find(
'\xff\xd8'
) # ? What is this string and where did it come from?
last = stream_bytes.find('\xff\xd9')
if first != -1 and last != -1:
jpg = stream_bytes[first:last + 2]
stream_bytes = stream_bytes[last + 2:]
# image is a np matrix.
image = cv2.imdecode(np.fromstring(jpg, dtype=np.uint8),
cv2.IMREAD_GRAYSCALE)
image_framecount = cv2.imdecode(
np.fromstring(jpg, dtype=np.uint8),
cv2.IMREAD_GRAYSCALE)
# overlay click counts: cv2.putText(clicks_*)
cv2.putText(image_framecount,
"Total frames: {}".format(total_frame),
(10, 30), cv2.FONT_HERSHEY_SIMPLEX, .45,
(255, 255, 0), 1)
# save streamed images
cv2.imwrite(
'negative_images/frame{:>05}.jpg'.format(frame), image)
# Display feeds on host (laptop)
cv2.imshow('image', image)
cv2.imshow('image_framecount', image_framecount)
frame += 1
total_frame += 1
# get input from human driver
for event in pygame.event.get():
if event.type == KEYDOWN: #''' 'KEYDOWN' : Does this just indicate when a key is pressed DOWN? '''
key_input = pygame.key.get_pressed()
# FORWARD
if key_input[pygame.K_UP]:
car.forward(300)
# FORWARD_RIGHT
elif key_input[pygame.K_RIGHT]:
car.right(300)
car.forward_right(400)
car.right(700)
# FORWARD_LEFT
elif key_input[pygame.K_LEFT]:
car.left(300)
car.forward_left(400)
car.left(700)
# REVERSE
elif key_input[pygame.K_DOWN]:
car.reverse(300)
# Quit
elif key_input[pygame.K_x] or key_input[
pygame.K_q]:
print 'exit'
self.send_inst = False
break
elif event.type == pygame.KEYUP: #'''Key is lifted UP?'''
break
e2 = cv2.getTickCount()
# calculate streaming duration
time0 = (e2 - e1) / cv2.getTickFrequency()
print 'Streaming duration:', time0
print 'Total NEGATIVE frames collected:', total_frame
finally:
self.connection.close()
self.server_socket.close
print 'Connection closed'
print 'Socket closed'
import car
while True:
car.forward(2000)
car.pause(1000)
print ''
car.reverse(2000)
car.pause(1000)
print ''
car.left(3000)
car.pause(1000)
print ''
car.right(3000)
car.pause(1000)
print ''
def stop(self):
print '*** STOPPING! ***'
car.pause(8000)
car.forward(100)
def get_distance():
send_trigger_pulse()
wait_for_echo(GPIO.HIGH,10000)
start = time.time()
wait_for_echo(GPIO.LOW,10000)
finish = time.time()
pulse_len = finish - start
distance = pulse_len / 0.000058
return distance
car = car.Car2Wheel([12,16,20,21],GPIO.LOW)
car.lunch()
car.test()
car.forward()
try:
while True:
if get_distance()<40:
car.turn_left(50)
time.sleep(0.1)
car.forward()
except:
GPIO.cleanup()
def forward(on):
print "forward: %s" % on
if on:
car.forward()
else:
car.stop()
def collect_images(self):
saved_frame = 0
total_frame = 0
clicks_forward = 0
clicks_forward_left = 0
clicks_forward_right = 0
print('Start collecting images...')
label_array = np.zeros((1, 3), 'float')
# Stream video frames one by one.
try:
stream_bytes = ' '
frame = 0
while self.send_inst:
stream_bytes += self.connection.read(1024)
first = stream_bytes.find(
'\xff\xd8'
) # ? What is this string and where did it come from?
last = stream_bytes.find('\xff\xd9')
if first != -1 and last != -1:
jpg = stream_bytes[first:last + 2]
stream_bytes = stream_bytes[last + 2:]
# 'image' (original, in grayscale)
image = cv2.imdecode(np.fromstring(jpg, dtype=np.uint8),
cv2.IMREAD_GRAYSCALE)
# Overlay click counts: cv2.putText(clicks_*)
clicks_total = clicks_forward + clicks_forward_left + clicks_forward_right
cv2.putText(
image, "FW: {}, LT: {}, RT: {}, TOTAL: {}".format(
clicks_forward, clicks_forward_left,
clicks_forward_right, clicks_total), (10, 30),
cv2.FONT_HERSHEY_SIMPLEX, .45, (255, 255, 0), 1)
# Display feeds on host (laptop)
cv2.imshow('image', image)
# Get input from human driver
for event in pygame.event.get():
if event.type == KEYDOWN:
key_input = pygame.key.get_pressed()
# FORWARD
if key_input[pygame.K_UP]:
# save streamed images
cv2.imwrite(
'training_images/frame{:>05}.jpg'.format(
frame), image)
label_array = np.vstack(
(label_array,
self.k[2])) # self.k[2] = [ 0., 0., 1.]
car.forward(200)
clicks_forward += 1
frame += 1
total_frame += 1
saved_frame += 1
# FORWARD_RIGHT
elif key_input[pygame.K_RIGHT]:
# save streamed images
cv2.imwrite(
'training_images/frame{:>05}.jpg'.format(
frame), image)
label_array = np.vstack(
(label_array,
self.k[1])) # self.k[1] = [ 0., 1., 0.]
car.right(300)
car.forward_right(300)
car.right(700)
clicks_forward_right += 1
frame += 1
total_frame += 1
saved_frame += 1
# FORWARD_LEFT
elif key_input[pygame.K_LEFT]:
# save streamed images
cv2.imwrite(
'training_images/frame{:>05}.jpg'.format(
frame), image)
label_array = np.vstack(
(label_array,
self.k[0])) # self.k[0] = [ 1., 0., 0.]
car.left(300)
car.forward_left(300)
car.left(700)
clicks_forward_left += 1
frame += 1
total_frame += 1
saved_frame += 1
# REVERSE; not saving images for this
elif key_input[pygame.K_DOWN]:
car.reverse(200)
elif key_input[pygame.K_x] or key_input[
pygame.K_q]:
print('EXIT')
self.send_inst = False
break
elif event.type == pygame.KEYUP: #'''Key is lifted UP?'''
break
train_labels = label_array[1:, :]
np.savez('training_images/label_array_ORIGINALS.npz',
train_labels=train_labels)
with open('./logs/log_img_collect.txt', 'a') as f:
f.write('Date: ' + time.strftime('%x') + '\n')
f.write('Time: ' + time.strftime('%X') + '\n')
f.write('Total frames: ' + str(total_frame) + '\n')
f.write('Saved frames: ' + str(saved_frame) + '\n')
f.write('Dropped frames: ' + str(total_frame - saved_frame) +
'\n')
f.write('Forward clicks: ' + str(clicks_forward) + '\n')
f.write('Forward-left clicks: ' + str(clicks_forward_left) +
'\n')
f.write('Forward-right clicks: ' + str(clicks_forward_right) +
'\n')
f.write('-----------------------------\n')
print('Forward clicks: '), clicks_forward
print('Forward-left clicks: '), clicks_forward_left
print('Forward-right clicks: '), clicks_forward_right
print('Total frame:'), total_frame
print('Saved frame:'), saved_frame
print('Dropped frame'), total_frame - saved_frame
finally:
self.connection.close()
self.server_socket.close
print('Connection closed')
print('Socket closed')
def forward(on):
print "forward: %s" % on
if on:
car.forward()
else:
car.stop()
